Merge branch 'master' into mm-ms5611

Signed-off-by: Keith Packard <keithp@keithp.com>

8 files changed, 152 insertions, 87 deletions

diff --git a/src/core/ao.h b/src/core/ao.h
index 31ec4686..e559e876 100644
--- a/src/core/ao.h
+++ b/src/core/ao.h
@@ -39,64 +39,13 @@
 #define CODE_TO_XDATA(a)	(a)
 #endif
 
-/* An AltOS task */
-struct ao_task {
-	__xdata void *wchan;		/* current wait channel (NULL if running) */
-	uint16_t alarm;			/* abort ao_sleep time */
-	ao_arch_task_members		/* any architecture-specific fields */
-	uint8_t task_id;		/* unique id */
-	__code char *name;		/* task name */
-	uint8_t	stack[AO_STACK_SIZE];	/* saved stack */
-};
-
-extern __xdata struct ao_task *__data ao_cur_task;
-
-#define AO_NUM_TASKS		16	/* maximum number of tasks */
-#define AO_NO_TASK		0	/* no task id */
-
-/*
- ao_task.c
- */
-
-/* Suspend the current task until wchan is awoken.
- * returns:
- *  0 on normal wake
- *  1 on alarm
- */
-uint8_t
-ao_sleep(__xdata void *wchan);
-
-/* Wake all tasks sleeping on wchan */
-void
-ao_wakeup(__xdata void *wchan);
-
-/* set an alarm to go off in 'delay' ticks */
-void
-ao_alarm(uint16_t delay);
-
-/* Clear any pending alarm */
-void
-ao_clear_alarm(void);
-
-/* Yield the processor to another task */
-void
-ao_yield(void) ao_arch_naked_declare;
-
-/* Add a task to the run queue */
-void
-ao_add_task(__xdata struct ao_task * task, void (*start)(void), __code char *name) __reentrant;
-
-/* Terminate the current task */
-void
-ao_exit(void);
-
-/* Dump task info to console */
-void
-ao_task_info(void);
+#ifndef HAS_TASK
+#define HAS_TASK	1
+#endif
 
-/* Start the scheduler. This will not return */
-void
-ao_start_scheduler(void);
+#if HAS_TASK
+#include <ao_task.h>
+#endif
 
 /*
  * ao_panic.c
@@ -136,7 +85,9 @@ ao_panic(uint8_t reason);
 extern volatile __data AO_TICK_TYPE ao_tick_count;
 
 /* Our timer runs at 100Hz */
+#ifndef AO_HERTZ
 #define AO_HERTZ		100
+#endif
 #define AO_MS_TO_TICKS(ms)	((ms) / (1000 / AO_HERTZ))
 #define AO_SEC_TO_TICKS(s)	((s) * AO_HERTZ)
 
@@ -168,11 +119,13 @@ ao_clock_init(void);
  * ao_mutex.c
  */
 
+#ifndef ao_mutex_get
 void
 ao_mutex_get(__xdata uint8_t *ao_mutex) __reentrant;
 
 void
 ao_mutex_put(__xdata uint8_t *ao_mutex) __reentrant;
+#endif
 
 /*
  * ao_cmd.c
@@ -319,11 +272,13 @@ ao_temp_to_dC(int16_t temp) __reentrant;
  * Convert between pressure in Pa and altitude in meters
  */
 
-int32_t
+#include <ao_data.h>
+
+alt_t
 ao_pa_to_altitude(int32_t pa);
 
 int32_t
-ao_altitude_to_pa(int32_t alt);
+ao_altitude_to_pa(alt_t alt);
 
 #if HAS_DBG
 #include <ao_dbg.h>
diff --git a/src/core/ao_config.c b/src/core/ao_config.c
index ce855ad1..e8ff95b7 100644
--- a/src/core/ao_config.c
+++ b/src/core/ao_config.c
@@ -102,6 +102,7 @@ _ao_config_get(void)
 		ao_xmemset(&ao_config.callsign, '\0', sizeof (ao_config.callsign));
 		ao_xmemcpy(&ao_config.callsign, CODE_TO_XDATA(AO_CONFIG_DEFAULT_CALLSIGN),
 		       sizeof(AO_CONFIG_DEFAULT_CALLSIGN) - 1);
+		ao_config._legacy_radio_channel = 0;
 	}
 	minor = ao_config.minor;
 	if (minor != AO_CONFIG_MINOR) {
@@ -131,7 +132,7 @@ _ao_config_get(void)
 		if (minor < 9)
 			ao_xmemset(&ao_config.aes_key, '\0', AO_AES_LEN);
 		if (minor < 10)
-			ao_config.frequency = 434550;
+			ao_config.frequency = 434550 + ao_config._legacy_radio_channel * 100;
 		if (minor < 11)
 			ao_config.apogee_lockout = 0;
 #if AO_PYRO_NUM
diff --git a/src/core/ao_convert_pa.c b/src/core/ao_convert_pa.c
index 0c93caea..55fe6e7d 100644
--- a/src/core/ao_convert_pa.c
+++ b/src/core/ao_convert_pa.c
@@ -19,14 +19,22 @@
 #include "ao.h"
 #endif
 
-static const int32_t altitude_table[] = {
+#ifndef AO_CONST_ATTRIB
+#define AO_CONST_ATTRIB
+#endif
+
+static const alt_t altitude_table[] AO_CONST_ATTRIB = {
 #include "altitude-pa.h"
 };
 
+#ifndef FETCH_ALT
+#define FETCH_ALT(o)	altitude_table[o]
+#endif
+
 #define ALT_SCALE	(1 << ALT_SHIFT)
 #define ALT_MASK	(ALT_SCALE - 1)
 
-int32_t
+alt_t
 ao_pa_to_altitude(int32_t pa)
 {
 	int16_t	o;
@@ -40,11 +48,12 @@ ao_pa_to_altitude(int32_t pa)
 	o = pa >> ALT_SHIFT;
 	part = pa & ALT_MASK;
 
-	low = (int32_t) altitude_table[o] * (ALT_SCALE - part);
-	high = (int32_t) altitude_table[o+1] * part + (ALT_SCALE >> 1);
+	low = (alt_t) FETCH_ALT(o) * (ALT_SCALE - part);
+	high = (alt_t) FETCH_ALT(o+1) * part + (ALT_SCALE >> 1);
 	return (low + high) >> ALT_SHIFT;
 }
 
+#ifdef AO_CONVERT_TEST
 int32_t
 ao_altitude_to_pa(int32_t alt)
 {
@@ -70,3 +79,4 @@ ao_altitude_to_pa(int32_t alt)
 		pa = 0;
 	return pa;
 }
+#endif
diff --git a/src/core/ao_convert_pa_test.c b/src/core/ao_convert_pa_test.c
index 972a4d4c..7d5b1922 100644
--- a/src/core/ao_convert_pa_test.c
+++ b/src/core/ao_convert_pa_test.c
@@ -17,15 +17,17 @@
 
 #include <stdint.h>
 #define AO_CONVERT_TEST
+typedef int32_t alt_t;
 #include "ao_host.h"
 #include "ao_convert_pa.c"
 
 #define STEP_P	1
 #define STEP_A	1
 
-static inline i_abs(int i) { return i < 0 ? -i : i; }
+static inline int i_abs(int i) { return i < 0 ? -i : i; }
 
-main ()
+int
+main (int argc, char **argv)
 {
 	int	i;
 	int32_t p_to_a, p_to_a_to_p;
@@ -49,9 +51,7 @@ main ()
 //		printf ("pa %d alt %d pa %d\n",
 //			i, p_to_a, p_to_a_to_p);
 	}
-	for (i = -1450; i < 74250 + STEP_A; i += STEP_A) {
-		if (i > 74250)
-			i = 74250;
+	for (i = -1450; i < 40000 + STEP_A; i += STEP_A) {
 		a_to_p = ao_altitude_to_pa(i);
 		a_to_p_to_a = ao_pa_to_altitude(a_to_p);
 		a_error = i_abs(a_to_p_to_a - i);
diff --git a/src/core/ao_data.h b/src/core/ao_data.h
index 30208dfb..6fdd19cb 100644
--- a/src/core/ao_data.h
+++ b/src/core/ao_data.h
@@ -52,6 +52,8 @@
 #define AO_DATA_MMA655X 0
 #endif
 
+#ifdef AO_DATA_RING
+
 #define AO_DATA_ALL	(AO_DATA_ADC|AO_DATA_MS5607|AO_DATA_MPU6000|AO_DATA_HMC5883|AO_DATA_MMA655X)
 
 struct ao_data {
@@ -65,6 +67,9 @@ struct ao_data {
 #endif
 #if HAS_MPU6000
 	struct ao_mpu6000_sample	mpu6000;
+#if !HAS_MMA655X
+	int16_t				z_accel;
+#endif
 #endif
 #if HAS_HMC5883
 	struct ao_hmc5883_sample	hmc5883;
@@ -95,6 +100,8 @@ extern volatile __data uint8_t		ao_data_count;
 		ao_sleep((void *) &ao_data_count);	\
 	} while (0)
 
+#endif /* AO_DATA_RING */
+
 #if !HAS_BARO && HAS_MS5607
 
 /* Either an MS5607 or an MS5611 hooked to a SPI port
@@ -103,7 +110,12 @@ extern volatile __data uint8_t		ao_data_count;
 #define HAS_BARO	1
 
 typedef int32_t	pres_t;
-typedef int32_t alt_t;
+
+#ifndef AO_ALT_TYPE
+#define AO_ALT_TYPE	int32_t
+#endif
+
+typedef AO_ALT_TYPE	alt_t;
 
 #define ao_data_pres_cook(packet)	ao_ms5607_convert(&packet->ms5607_raw, &packet->ms5607_cooked)
 
@@ -128,6 +140,10 @@ typedef int16_t alt_t;
 
 #endif
 
+#if !HAS_BARO
+typedef int16_t alt_t;
+#endif
+
 /*
  * Need a few macros to pull data from the sensors:
  *
@@ -265,9 +281,9 @@ typedef int16_t accel_t;
 typedef int16_t accel_t;
 
 /* MPU6000 is hooked up so that positive y is positive acceleration */
-#define ao_data_accel(packet)			((packet)->mpu6000.accel_y)
+#define ao_data_accel(packet)			((packet)->z_accel)
 #define ao_data_accel_cook(packet)		(-(packet)->mpu6000.accel_y)
-#define ao_data_set_accel(packet, accel)	((packet)->mpu6000.accel_y = (accel))
+#define ao_data_set_accel(packet, accel)	((packet)->z_accel = (accel))
 #define ao_data_accel_invert(a)			(-(a))
 
 #endif
diff --git a/src/core/ao_log.h b/src/core/ao_log.h
index 04abeb7e..eaaca444 100644
--- a/src/core/ao_log.h
+++ b/src/core/ao_log.h
@@ -138,17 +138,17 @@ ao_log_full(void);
 #define AO_LOG_POS_NONE		(~0UL)
 
 struct ao_log_record {
-	char			type;
-	uint8_t			csum;
-	uint16_t		tick;
+	char			type;				/* 0 */
+	uint8_t			csum;				/* 1 */
+	uint16_t		tick;				/* 2 */
 	union {
 		struct {
-			int16_t		ground_accel;
-			uint16_t	flight;
+			int16_t		ground_accel;		/* 4 */
+			uint16_t	flight;			/* 6 */
 		} flight;
 		struct {
-			int16_t		accel;
-			int16_t		pres;
+			int16_t		accel;			/* 4 */
+			int16_t		pres;			/* 6 */
 		} sensor;
 		struct {
 			int16_t		temp;
@@ -201,8 +201,7 @@ struct ao_log_mega {
 			uint16_t	flight;		/* 4 */
 			int16_t		ground_accel;	/* 6 */
 			uint32_t	ground_pres;	/* 8 */
-			uint32_t	ground_temp;	/* 12 */
-		} flight;				/* 16 */
+		} flight;				/* 12 */
 		struct {
 			uint16_t	state;
 			uint16_t	reason;
diff --git a/src/core/ao_panic.c b/src/core/ao_panic.c
index 52433044..3c0b471e 100644
--- a/src/core/ao_panic.c
+++ b/src/core/ao_panic.c
@@ -29,6 +29,10 @@
 #define ao_led_off(x)
 #endif
 
+#ifndef AO_LED_PANIC
+#define AO_LED_PANIC	AO_LED_RED
+#endif
+
 static void
 ao_panic_delay(uint8_t n)
 {
@@ -52,10 +56,10 @@ ao_panic(uint8_t reason)
 	__critical for (;;) {
 		ao_panic_delay(20);
 		for (n = 0; n < 5; n++) {
-			ao_led_on(AO_LED_RED);
+			ao_led_on(AO_LED_PANIC);
 			ao_beep(AO_BEEP_HIGH);
 			ao_panic_delay(1);
-			ao_led_off(AO_LED_RED);
+			ao_led_off(AO_LED_PANIC);
 			ao_beep(AO_BEEP_LOW);
 			ao_panic_delay(1);
 		}
@@ -66,18 +70,18 @@ ao_panic(uint8_t reason)
 #pragma disable_warning 126
 #endif
 		if (reason & 0x40) {
-			ao_led_on(AO_LED_RED);
+			ao_led_on(AO_LED_PANIC);
 			ao_beep(AO_BEEP_HIGH);
 			ao_panic_delay(40);
-			ao_led_off(AO_LED_RED);
+			ao_led_off(AO_LED_PANIC);
 			ao_beep(AO_BEEP_OFF);
 			ao_panic_delay(10);
 		}
 		for (n = 0; n < (reason & 0x3f); n++) {
-			ao_led_on(AO_LED_RED);
+			ao_led_on(AO_LED_PANIC);
 			ao_beep(AO_BEEP_MID);
 			ao_panic_delay(10);
-			ao_led_off(AO_LED_RED);
+			ao_led_off(AO_LED_PANIC);
 			ao_beep(AO_BEEP_OFF);
 			ao_panic_delay(10);
 		}
diff --git a/src/core/ao_task.h b/src/core/ao_task.h
new file mode 100644
index 00000000..18edd866
--- /dev/null
+++ b/src/core/ao_task.h
@@ -0,0 +1,80 @@
+/*
+ * Copyright © 2012 Keith Packard <keithp@keithp.com>
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; version 2 of the License.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+ * General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
+ */
+
+#ifndef _AO_TASK_H_
+#define _AO_TASK_H_
+
+/* An AltOS task */
+struct ao_task {
+	__xdata void *wchan;		/* current wait channel (NULL if running) */
+	uint16_t alarm;			/* abort ao_sleep time */
+	ao_arch_task_members		/* any architecture-specific fields */
+	uint8_t task_id;		/* unique id */
+	__code char *name;		/* task name */
+	uint8_t	stack[AO_STACK_SIZE];	/* saved stack */
+};
+
+extern __xdata struct ao_task *__data ao_cur_task;
+
+#define AO_NUM_TASKS		16	/* maximum number of tasks */
+#define AO_NO_TASK		0	/* no task id */
+
+/*
+ ao_task.c
+ */
+
+/* Suspend the current task until wchan is awoken.
+ * returns:
+ *  0 on normal wake
+ *  1 on alarm
+ */
+uint8_t
+ao_sleep(__xdata void *wchan);
+
+/* Wake all tasks sleeping on wchan */
+void
+ao_wakeup(__xdata void *wchan);
+
+/* set an alarm to go off in 'delay' ticks */
+void
+ao_alarm(uint16_t delay);
+
+/* Clear any pending alarm */
+void
+ao_clear_alarm(void);
+
+/* Yield the processor to another task */
+void
+ao_yield(void) ao_arch_naked_declare;
+
+/* Add a task to the run queue */
+void
+ao_add_task(__xdata struct ao_task * task, void (*start)(void), __code char *name) __reentrant;
+
+/* Terminate the current task */
+void
+ao_exit(void);
+
+/* Dump task info to console */
+void
+ao_task_info(void);
+
+/* Start the scheduler. This will not return */
+void
+ao_start_scheduler(void);
+
+#endif